According to "i.MX 8M Mini Applications Processor Reference Manual", we can find the below description.
The Quad-A53 core on i.MX 8M Mini is enabled during boot as the primary core to
handle the entire secure boot flow. The chip will always boot from A53 core first, the M4
core will be held in reset during the A53 boot and won’t run until it is enabled by the A53
core. The image for M4 cores will be loaded into memory and authenticated by the A53
core.
The Quad-A53 core on i.MX 8M Mini is enabled during boot as the primary core to
handle the entire secure boot flow. The chip will always boot from A53 core first, the M4
core will be held in reset during the A53 boot and won’t run until it is enabled by the A53
core. The image for M4 cores will be loaded into memory and authenticated by the A53
core.
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